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Proceedings Paper

Collaborative experiments of small autonomous systems at the SOURCE ATO capstone experiment
Author(s): Jason Gregory; David Baran; John Rogers III; Jonathan Fink; Jeffrey Delmerico
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Paper Abstract

Autonomous systems operating in militarily-relevant environments are valuable assets due to the increased situational awareness they provide to the Warfighter. To further advance the current state of these systems, a collaborative experiment was conducted as part of the Safe Operations of Unmanned Systems for Reconnaissance in Complex Environments (SOURCE) Army Technology Objective (ATO). We present the findings from this large-scale experiment which spanned several research areas, including 3D mapping and exploration, communications maintenance, and visual intelligence. For 3D mapping and exploration, we evaluated loop closure using Iterative Closest Point (ICP). To improve current communications systems, the limitations of an existing mesh network were analyzed. Also, camera data from a Microsoft Kinect was used to test autonomous stairway detection and modeling algorithms. This paper will detail the experiment procedure and the preliminary results for each of these tests.

Paper Details

Date Published: 17 May 2013
PDF: 12 pages
Proc. SPIE 8741, Unmanned Systems Technology XV, 87410X (17 May 2013); doi: 10.1117/12.2016284
Show Author Affiliations
Jason Gregory, U.S. Army Research Lab. (United States)
David Baran, U.S. Army Research Lab. (United States)
John Rogers III, U.S. Army Research Lab. (United States)
Jonathan Fink, U.S. Army Research Lab. (United States)
Jeffrey Delmerico, U.S. Army Research Lab. (United States)

Published in SPIE Proceedings Vol. 8741:
Unmanned Systems Technology XV
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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